Abstract: In this paper, methods for generating closed-form expressions for locally volume preserving deformations of general volumes in three dimensional space are introduced. These methods have applications ...

Abstract: Binary actuators have only two discrete states (denoted “0” and “1”), both of which are stable without feedback. As a result, binary mechanisms and manipulators have a finite number of states. ...

Abstract: Recently, the importance of metrics on the group of rigid body motions has been addressed in a number of works in the kinematics and robotics literature. This paper defines new metrics on ...

Abstract: The term hyper-redundant refers to redundant manipulators with a very large or infinite number of degrees of freedom. These manipulators are analogous in morphology to snakes, elephant trunks, ...

Abstract: In this paper we apply the Fourier transform on the Euclidean motion group to solve problems in kinematic design of binary manipulators. In recent papers it has been shown that the workspace ...